A Truly-Redundant Aerial Manipulator System with Application to Push-and-Slide Inspection in Industrial Plants

Marco Tognon*, Hermes A.Tello Chavez, Enrico Gasparin, Quentin Sable, Davide Bicego, Anthony Mallet, Marc Lany, Gilles Santi, Bernard Revaz, Juan Cortes, Antonio Franchi

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

16 Citations (Scopus)

Abstract

We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle-to enhance physical interaction capabilities-endowed with a 2-DoFs lightweight arm-to enlarge its workspace. This combination makes it a truly-redundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a 'displaced' positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.

Original languageEnglish
Article number8629273
Pages (from-to)1846-1851
Number of pages6
JournalIEEE Robotics and automation letters
Volume4
Issue number2
DOIs
Publication statusPublished - Apr 2019
Externally publishedYes

Keywords

  • Aerial Systems: Applications
  • Aerial Systems: Mechanics and Control
  • Motion Control

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